Catadioptric sensors use a rotationally symmetrical mirror viewed along its central (rotation) axis by a camera.
The catadioptric sensor consisting of a conical mirror and an ordinary perspective camera has the following advantages:

It is simple to set up and operate. The equipment is relatively inexpensive and the cameras are widely available.

The projection is the same regardless of its direction (isotropic).

It captures the entire scene in a single instant, making it well suited to analysis of dynamic environments and/or moving cameras.

The image resolution and distortion of the cone mirror are favourable in comparison with other shapes of catadioptric mirrors.

We are also using true fisheye lenses (field of view of at least 180 degrees wide, i.e. hemispherical), see the front page.

Omnidirectional Sensor

Image Registration

Isotropic

Dynamic

Image Resolution

Notes

Rotating camera

mechanical problems

only for the single central column of pixels perpendicular to the rotation